feat:dds 要保密

CMakeLists.txt

@@ -50,6 +50,7 @@ set(HAL_SOURCES
     ${PEC930_SDK_DIR}/Drivers/PEC930/HAL_Lib/src/hal_syscfg.c
     ${PEC930_SDK_DIR}/Drivers/PEC930/HAL_Lib/src/hal_uart.c
     ${PEC930_SDK_DIR}/Drivers/PEC930/HAL_Lib/src/hal_gpio.c
+    ${PEC930_SDK_DIR}/Drivers/PEC930/HAL_Lib/src/hal_tim.c
 )
 
 set(COMMON_SOURCES

app/inc/cmd_srv.h

@@ -1,54 +0,0 @@
-/**
- * @file cmd_srv.h
- * @brief UART command interface via PB5(RX) / PB3(TX)
- */
-
-#ifndef __cmd_srv_H__
-#define __cmd_srv_H__
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "hal_device.h"
-
-//=============================================================================
-//                  Constant Definition
-//=============================================================================
-/* UART config */
-#define UART_TX_PORT          GPIOB
-#define UART_TX_PIN           GPIO_Pin_03
-#define UART_TX_AF            GPIO_AF_1
-
-#define UART_RX_PORT          GPIOB
-#define UART_RX_PIN           GPIO_Pin_05
-#define UART_RX_AF            GPIO_AF_1
-
-#define UART_DEVICE           UART0
-#define UART_DEVICE_BAUD_RATE 115200
-
-/* CMD */
-#define UART_CMD_RX_BUF_SIZE  128
-
-#define FW_VERSION            "0.0.1"
-
-  //=============================================================================
-  //                  Global Data Definition
-  //=============================================================================
-  extern volatile char g_uart_rx_buf[UART_CMD_RX_BUF_SIZE];
-  extern volatile uint16_t g_uart_rx_idx;
-  extern volatile bool g_uart_rx_complete;
-
-  //=============================================================================
-  //                  Public Function Definition
-  //=============================================================================
-  void uart_init(void);
-  void uart_cmd_process(void);
-  void uart_cmd_send_str(const char *str);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif

app/inc/epwm_drv.h

@@ -0,0 +1,20 @@
+#ifndef __EPWM_DRV_H__
+#define __EPWM_DRV_H__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "main.h"
+
+  void epwm_init(void);
+  void epwm_en(bool en);
+  void epwm_set_duty(uint16_t ch1_val, uint16_t ch2_val, uint16_t ch3_val);
+  bool epwm_is_24khz_tick_and_clear(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

app/inc/main.h

@@ -1,11 +1,10 @@
 /**
- * Copyright (c) 2024 Wei-Lun Hsu. All Rights Reserved.
+ * Copyright (c) 2026 Wisetop. All Rights Reserved.
  */
-/** @file main.h
+/** @file main.c
  *
- * @author Wei-Lun Hsu
- * @version 0.1
- * @date 2024/08/29
+ * @version 0.0.1
+ * @date 2026/04/22
  * @license
  * @description
  */
@@ -14,35 +13,35 @@
 #define __main_H_wxBnwdPw_lq7D_H4I5_sHPp_uXof15pFLp4V__
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
-
 #include "hal_device.h"
 #include "syslog.h"
-//=============================================================================
-//                  Constant Definition
-//=============================================================================
+  //=============================================================================
+  //                  Constant Definition
+  //=============================================================================
 
-//=============================================================================
-//                  Macro Definition
-//=============================================================================
+  //=============================================================================
+  //                  Macro Definition
+  //=============================================================================
+#define FW_VERSION "0.0.1"
+  //=============================================================================
+  //                  Structure Definition
+  //=============================================================================
 
-//=============================================================================
-//                  Structure Definition
-//=============================================================================
+  //=============================================================================
+  //                  Global Data Definition
+  //=============================================================================
 
-//=============================================================================
-//                  Global Data Definition
-//=============================================================================
+  //=============================================================================
+  //                  Private Function Definition
+  //=============================================================================
 
-//=============================================================================
-//                  Private Function Definition
-//=============================================================================
-
-//=============================================================================
-//                  Public Function Definition
-//=============================================================================
+  //=============================================================================
+  //                  Public Function Definition
+  //=============================================================================
 
 #ifdef __cplusplus
 }

app/inc/motor_ctrl.h

@@ -0,0 +1,66 @@
+#ifndef __MOTOR_CTRL_H__
+#define __MOTOR_CTRL_H__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "main.h"
+
+#include "epwm_drv.h"
+
+#define PWM_LUT_SIZE (64U)
+#define PHASE_CH     3
+
+// 1Hz = pwm_lut_size * sub_step / pwm_clk
+// 1Hz = 64 * 65536 / 24000 FTW approximately 174.762666
+#define DDS_FTW_1HZ  (PWM_LUT_SIZE * 65536 / 24000)
+
+  enum motor_ctrl_mode
+  {
+    MOTOR_TASK_IDLE = 0,
+    MOTOR_TASK_RUN = 1
+  };
+
+  struct dds_phase_output_t
+  {
+    uint32_t phase_acc;
+    uint8_t lut_idx;
+    uint8_t nquadrant;
+    uint8_t last_quadrant;
+    int16_t lut_sin_val;
+    int16_t lut_cos_val;
+    uint16_t duty;
+  };
+
+  struct motor_ctrl_ctx_t
+  {
+    uint16_t mode;
+    uint32_t phase_acc_base;
+
+    int32_t current_dds_ftw; // max: 2^22
+    int32_t current_dds_amp; // max: 2^7*1250
+    int32_t goal_dds_ftw;
+    int32_t goal_dds_amp;
+    int32_t begin_dds_ftw;
+    int32_t begin_dds_amp;
+
+    struct dds_phase_output_t dds_phase_out[PHASE_CH];
+  };
+
+  extern struct motor_ctrl_ctx_t g_motor_ctrl_t;
+
+  void motor_ctrl_init(void);
+  void motor_task(void);
+  void motor_ctrl_phase_accumulator(void);
+  void motor_ctrl_stop(void);
+  void motor_ctrl_start(void);
+
+  void dds_pwm_duty_cycle_update(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

app/inc/uart_cmd_srv.h

@@ -0,0 +1,19 @@
+#ifndef __UART_CMD_SRV_H__
+#define __UART_CMD_SRV_H__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "uart_drv.h"
+
+#include "main.h"
+
+  void uart_cmd_process(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

app/inc/uart_drv.h

@@ -0,0 +1,27 @@
+#ifndef __DRV_UART_H__
+#define __DRV_UART_H__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "main.h"
+
+#define UART_RX_BUF_SIZE 128
+
+  extern volatile char g_uart_rx_buf[UART_RX_BUF_SIZE];
+  extern volatile uint16_t g_uart_rx_idx;
+  extern volatile bool g_uart_rx_complete;
+
+#define uart_send_msg(str, ...) printf(str, ##__VA_ARGS__);
+
+  void uart_init(void);
+  void uart_clear_rx_frame(void);
+  bool uart_is_frame_ready(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

app/src/cmd_srv.c

@@ -1,197 +0,0 @@
-/**
- * @file cmd_srv.c
- * @brief UART command interface via PB5(RX) / PB3(TX)
- */
-#include <string.h>
-
-#include "hal_device.h"
-
-#include "cmd_srv.h"
-#include "syslog.h"
-//=============================================================================
-//                  Constant Definition
-//=============================================================================
-
-//=============================================================================
-//                  Global Data Definition
-//=============================================================================
-volatile char g_uart_rx_buf[UART_CMD_RX_BUF_SIZE];
-volatile uint16_t g_uart_rx_idx = 0;
-volatile bool g_uart_rx_complete = false;
-
-static bool g_pwm_enabled = false;
-static bool g_notify_enabled = false;
-
-//=============================================================================
-//                  Private Function Definition
-//=============================================================================
-static int cmd_strcmp(const volatile char *buf, const char *cmd)
-{
-  while (*cmd)
-  {
-    if (*buf != *cmd)
-      return 1;
-    buf++;
-    cmd++;
-  }
-  return (*buf != '\0');
-}
-
-static bool cmd_match_with_arg(const volatile char *buf, const char *prefix, const char **arg_out)
-{
-  size_t len = strlen(prefix);
-  for (size_t i = 0; i < len; i++)
-  {
-    if (buf[i] != prefix[i])
-      return false;
-  }
-  if (buf[len] == ' ')
-  {
-    *arg_out = (const char *)&buf[len + 1];
-    return true;
-  }
-  return false;
-}
-
-//=============================================================================
-//                  ISR Handler
-//=============================================================================
-__INTERRUPT void uart_rx_handler(void)
-{
-  SAVE_IRQ_CSR_CONTEXT();
-
-  if (UART_GetITStatus(UART0, UART_FLAG_RXNE))
-  {
-    char ch = (char)UART_ReceiveData(UART0);
-
-    if (ch == '\r' || ch == '\n')
-    {
-      if (g_uart_rx_idx > 0)
-      {
-        g_uart_rx_buf[g_uart_rx_idx] = '\0';
-        g_uart_rx_complete = true;
-      }
-    }
-    else if (g_uart_rx_idx < UART_CMD_RX_BUF_SIZE - 1)
-    {
-      g_uart_rx_buf[g_uart_rx_idx++] = ch;
-    }
-  }
-
-  RESTORE_IRQ_CSR_CONTEXT();
-}
-
-//=============================================================================
-//                  Public Function Definition
-//=============================================================================
-void uart_cmd_send_str(const char *str)
-{
-  while (*str)
-  {
-    UART_SendData(UART0, *str++);
-    UART_WaitTxFifoEmpty(UART0);
-  }
-}
-
-void uart_cmd_process(void)
-{
-  if (!g_uart_rx_complete)
-    return;
-
-  const char *arg = NULL;
-
-  if (cmd_strcmp(g_uart_rx_buf, "help") == 0)
-  {
-    uart_cmd_send_str("Commands:\r\n");
-    uart_cmd_send_str("  help       - show this help\r\n");
-    uart_cmd_send_str("  fw_ver     - show firmware version\r\n");
-    uart_cmd_send_str("  pwm_en 1/0    - enable/disable PWM output\r\n");
-    uart_cmd_send_str("  notify_en 1/0 - enable/disable notify\r\n");
-  }
-  else if (cmd_strcmp(g_uart_rx_buf, "fw_ver") == 0)
-  {
-    uart_cmd_send_str("FW: " FW_VERSION "\r\n");
-  }
-  else if (cmd_match_with_arg(g_uart_rx_buf, "pwm_en", &arg))
-  {
-    if (arg[0] == '1')
-    {
-      g_pwm_enabled = true;
-      uart_cmd_send_str("OK pwm on\r\n");
-    }
-    else if (arg[0] == '0')
-    {
-      g_pwm_enabled = false;
-      uart_cmd_send_str("OK pwm off\r\n");
-    }
-    else
-    {
-      uart_cmd_send_str("ERR usage: pwm_en 1/0\r\n");
-    }
-  }
-  else if (cmd_match_with_arg(g_uart_rx_buf, "notify_en", &arg))
-  {
-    if (arg[0] == '1')
-    {
-      g_notify_enabled = true;
-      uart_cmd_send_str("OK notify on\r\n");
-    }
-    else if (arg[0] == '0')
-    {
-      g_notify_enabled = false;
-      uart_cmd_send_str("OK notify off\r\n");
-    }
-    else
-    {
-      uart_cmd_send_str("ERR usage: notify_en 1/0\r\n");
-    }
-  }
-  else
-  {
-    uart_cmd_send_str("ERR unknown cmd\r\n");
-  }
-
-  /* Reset for next command */
-  g_uart_rx_idx = 0;
-  g_uart_rx_complete = false;
-}
-
-/* Configure PB3 as UART0 TX, PB5 as UART0 RX */
-void uart_init(void)
-{
-  GPIO_InitTypeDef gpio_init = { 0 };
-  UART_InitTypeDef uart_init = { 0 };
-
-  gpio_init.GPIO_Pin = UART_TX_PIN;
-  gpio_init.GPIO_Mode = GPIO_Mode_AF;
-  gpio_init.GPIO_AF_Mode = UART_TX_AF;
-  GPIO_Init(UART_TX_PORT, &gpio_init);
-
-  gpio_init.GPIO_Pin = UART_RX_PIN;
-  gpio_init.GPIO_Mode = GPIO_Mode_AF;
-  gpio_init.GPIO_AF_Mode = UART_RX_AF;
-  GPIO_Init(UART_RX_PORT, &gpio_init);
-
-  uart_init.BaudRate = UART_DEVICE_BAUD_RATE;
-  uart_init.WordLength = UART_WordLength_8b;
-  uart_init.StopBits = UART_StopBits_1;
-  uart_init.Parity = UART_Parity_No;
-  uart_init.Mode = UART_Mode_TxRx;
-  UART_Init(UART_DEVICE, &uart_init);
-
-  /* Enable RX not-empty interrupt */
-  UART_ITConfig(UART_DEVICE, UART_IT_RX_FIFO_NO_EMPTY, ENABLE);
-
-  /* Register UART0 IRQ */
-  sys_irq_attr_t irq_attr = {
-    .trig_mode = SYS_IRQ_TRIGGER_LEVEL,
-    .level = SYS_IRQ_LEVEL_H,
-    .priority = SYS_IRQ_PRIORITY_MIDDEN,
-  };
-  sys_register_IRQ(UART0_IRQn, uart_rx_handler, &irq_attr);
-
-  /* Start UART */
-  UART_Start(UART_DEVICE);
-
-  sys_enable_girq();
-}

app/src/epwm_drv.c

@@ -0,0 +1,110 @@
+#include "epwm_drv.h"
+
+#include "motor_ctrl.h"
+
+#define HIRC_Freq          60000000 // Hz
+#define CurrentLoopIsrFreq 24000    // Hz
+#define PWM_PERIOD         HIRC_Freq / CurrentLoopIsrFreq
+#define DEAD_TIME          200 // ns
+#define DEAD_TIME_VALUE    DEAD_TIME * 0.06
+
+static volatile bool g_epwm_24khz_tick = false;
+
+__INTERRUPT void epwm_irq_handler(void)
+{
+  SAVE_IRQ_CSR_CONTEXT();
+
+  /* Overflow happens once per PWM period -> 24kHz tick */
+  if ((EPWM->SR & 0x10000U) == 0x10000U)
+  {
+    g_epwm_24khz_tick = true;
+    motor_ctrl_phase_accumulator();
+    TIM_ClearITPendingBit(EPWM, 0x10000U); // clear OVIF
+  }
+
+  RESTORE_IRQ_CSR_CONTEXT();
+}
+
+void epwm_en(bool en)
+{
+  if (en)
+  {
+    // main output enable
+    TIM_CtrlPWMOutputs(EPWM, ENABLE);
+  }
+  else
+  {
+    // main output disable
+    TIM_CtrlPWMOutputs(EPWM, DISABLE);
+  }
+}
+
+void epwm_set_duty(uint16_t ch1_val, uint16_t ch2_val, uint16_t ch3_val)
+{
+  TIM_SetCompare1(EPWM, ch1_val);
+  TIM_SetCompare2(EPWM, ch2_val);
+  TIM_SetCompare3(EPWM, ch3_val);
+}
+
+bool epwm_is_24khz_tick_and_clear(void)
+{
+  bool ready = g_epwm_24khz_tick;
+  if (ready)
+  {
+    g_epwm_24khz_tick = false;
+  }
+  return ready;
+}
+
+void epwm_init(void)
+{
+  GPIO_InitTypeDef epwm_gpio_cfg = { 0 };
+  TIM_TimeBaseInitTypeDef tim_base_cfg = { 0 };
+  TIM_OCInitTypeDef tim_oc_cfg = { 0 };
+  sys_irq_attr_t irq_attr = {
+    .trig_mode = SYS_IRQ_TRIGGER_LEVEL,
+    .level = SYS_IRQ_LEVEL_H,
+    .priority = SYS_IRQ_PRIORITY_MIDDEN,
+  };
+
+  // gpio config
+  epwm_gpio_cfg.GPIO_Pin = GPIO_Pin_00 | GPIO_Pin_01 | GPIO_Pin_02 |
+                           GPIO_Pin_03 | GPIO_Pin_04 | GPIO_Pin_05;
+  epwm_gpio_cfg.GPIO_Mode = GPIO_Mode_AF;
+  epwm_gpio_cfg.GPIO_AF_Mode = GPIO_AF_6;
+  GPIO_Init(GPIOA, &epwm_gpio_cfg);
+
+  // timer base config
+  TIM_TimeBaseStructInit(&tim_base_cfg);
+  tim_base_cfg.TIM_Prescaler = 0;
+  tim_base_cfg.TIM_CounterMode = TIM_CounterMode_Up;
+  tim_base_cfg.TIM_Period = PWM_PERIOD - 1;
+  tim_base_cfg.TIM_ClockDivision = TIM_CKD_Div1;
+  tim_base_cfg.TIM_RepetitionCounter = 0;
+  TIM_TimeBaseInit(EPWM, &tim_base_cfg);
+  TIM_ARRPreloadConfig(EPWM, ENABLE);
+
+  // timer output compare config
+  TIM_OCStructInit(&tim_oc_cfg);
+  tim_oc_cfg.TIM_OCMode = TIM_OCMode_PWM1;
+  tim_oc_cfg.TIM_OutputState = TIM_OutputState_Enable;
+  tim_oc_cfg.TIM_OutputNState = TIM_OutputNState_Enable;
+  tim_oc_cfg.TIM_Pulse = 0;
+  tim_oc_cfg.TIM_OCPolarity = TIM_OCPolarity_High;
+  tim_oc_cfg.TIM_OCNPolarity = TIM_OCNPolarity_High;
+  tim_oc_cfg.TIM_OCIdleState = TIM_OCIdleState_Reset;
+  tim_oc_cfg.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
+  TIM_OC1Init(EPWM, &tim_oc_cfg);
+  TIM_OC2Init(EPWM, &tim_oc_cfg);
+  TIM_OC3Init(EPWM, &tim_oc_cfg);
+
+  // register EPWM IRQ and enable overflow interrupt source
+  sys_register_IRQ(EPWM_IRQn, epwm_irq_handler, &irq_attr);
+  EPWM->DIER |= 0x0800U; // over flow
+  TIM_ClearITPendingBit(EPWM, 0x10000U);
+
+  // timer counter enable
+  TIM_Cmd(EPWM, ENABLE);
+
+  sys_enable_girq();
+}

app/src/main.c

@@ -1,19 +1,20 @@
 /**
- * Copyright (c) 2024 Wei-Lun Hsu. All Rights Reserved.
+ * Copyright (c) 2026 Wisetop. All Rights Reserved.
  */
 /** @file main.c
  *
- * @author Wei-Lun Hsu
- * @version 0.1
- * @date 2024/08/29
+ * @version 0.0.1
+ * @date 2026/04/22
  * @license
  * @description
  */
-
 #include "main.h"
-#include "cmd_srv.h"
+
+#include "epwm_drv.h"
+#include "motor_ctrl.h"
+#include "uart_cmd_srv.h"
 //=============================================================================
-//                   Constant Definition
+//                  Constant Definition
 //=============================================================================
 
 //=============================================================================
@@ -40,7 +41,6 @@ static void sysclk_init(void)
   sys_config_systick(SYS_TICK_1_MS);
 }
 
-/* Test pin: PA14 */
 static void test_pin_init(void)
 {
   GPIO_InitTypeDef gpio_init = { 0 };
@@ -49,7 +49,7 @@ static void test_pin_init(void)
   gpio_init.GPIO_Mode = GPIO_Mode_OUT;
   gpio_init.GPIO_PuPd = GPIO_PuPd_NOPULL;
   gpio_init.GPIO_OType = GPIO_OType_PP;
-  GPIO_WriteBit(GPIOA, GPIO_Pin_14, GPIO_PIN_HIGH);
+  GPIO_WriteBit(GPIOA, GPIO_Pin_14, GPIO_PIN_LOW);
   GPIO_Init(GPIOA, &gpio_init);
 }
 //=============================================================================
@@ -58,14 +58,18 @@ static void test_pin_init(void)
 int main(void)
 {
   sysclk_init();
-  uart_init();
   test_pin_init();
+  epwm_init();
+  uart_init();
+  uart_send_msg("%s\r\n", "uart ok");
 
-  uart_cmd_send_str("CMD service started\n");
+  motor_ctrl_init();
 
   while (1)
   {
     uart_cmd_process();
+
+    motor_task();
   }
   return 0;
 }

app/src/motor_ctrl.c

@@ -0,0 +1,50 @@
+#include "motor_ctrl.h"
+
+struct motor_ctrl_ctx_t g_motor_ctrl_t;
+
+void motor_ctrl_phase_accumulator(void)
+{
+  if (g_motor_ctrl_t.mode == MOTOR_TASK_RUN)
+  {
+    g_motor_ctrl_t.phase_acc_base += g_motor_ctrl_t.current_dds_ftw;
+  }
+}
+
+void motor_ctrl_init(void)
+{
+  struct motor_ctrl_ctx_t *m = &g_motor_ctrl_t;
+
+  m->mode = MOTOR_TASK_IDLE;
+  m->phase_acc_base = 0;
+  m->current_dds_ftw = 0;
+}
+
+void motor_ctrl_start(void)
+{
+  struct motor_ctrl_ctx_t *m = &g_motor_ctrl_t;
+
+  motor_ctrl_init();
+
+  m->current_dds_ftw = DDS_FTW_1HZ * 80;
+  m->current_dds_amp = 160000;
+  m->mode = MOTOR_TASK_RUN;
+
+  epwm_en(1);
+}
+
+void motor_ctrl_stop(void)
+{
+  epwm_en(0);
+  motor_ctrl_init();
+}
+
+void motor_task(void)
+{
+  if (g_motor_ctrl_t.mode == MOTOR_TASK_IDLE)
+    return;
+
+  if (epwm_is_24khz_tick_and_clear())
+  {
+    dds_pwm_duty_cycle_update();
+  }
+}

app/src/motor_ctrl_dds.c

@@ -0,0 +1,33 @@
+#include "motor_ctrl.h"
+
+const uint32_t phase_offset[PHASE_CH] = { 0, 1398101, 2796203 };
+
+// 64-point sine wave lookup table (-2048-2047 range)
+// Sine_table[i] = sin(i*2*pi/64)*(4095/2) where i = 0 to 63
+// Use sine_amplitude parameter to scale to desired duty cycle range later
+const int16_t LUT_sin[PWM_LUT_SIZE] = { 0, 200, 399, 594, 783, 965, 1137, 1298, 1447, 1582, 1702, 1805, 1891, 1959, 2008, 2037, 2047, 2037, 2008, 1959, 1891, 1805, 1702, 1582, 1447, 1298, 1137, 965, 783, 594, 399, 200, 0, -200, -399, -594, -783, -965, -1137, -1298, -1447, -1582, -1702, -1805, -1891, -1959, -2008, -2037, -2047, -2037, -2008, -1959, -1891, -1805, -1702, -1582, -1447, -1298, -1137, -965, -783, -594, -399, -200 };
+
+const int16_t LUT_cos[PWM_LUT_SIZE] = { 2047, 2037, 2008, 1959, 1891, 1805, 1702, 1582, 1447, 1298, 1137, 965, 783, 594, 399, 200, 0, -200, -399, -594, -783, -965, -1137, -1298, -1447, -1582, -1702, -1805, -1891, -1959, -2008, -2037, -2047, -2037, -2008, -1959, -1891, -1805, -1702, -1582, -1447, -1298, -1137, -965, -783, -594, -399, -200, 0, 200, 399, 594, 783, 965, 1137, 1298, 1447, 1582, 1702, 1805, 1891, 1959, 2008, 2037 };
+
+void dds_pwm_duty_cycle_update(void)
+{
+  struct motor_ctrl_ctx_t *motor = &g_motor_ctrl_t;
+  struct dds_phase_output_t *u = &motor->dds_phase_out[0];
+  struct dds_phase_output_t *v = &motor->dds_phase_out[1];
+  struct dds_phase_output_t *w = &motor->dds_phase_out[2];
+
+  for (int i = 0; i < PHASE_CH; i++)
+  {
+    struct dds_phase_output_t *p = &motor->dds_phase_out[i];
+
+    p->phase_acc = (motor->phase_acc_base + phase_offset[i]) % 0x003FFFFF;
+    p->last_quadrant = p->nquadrant;
+    p->lut_idx = p->phase_acc >> 16;
+    p->nquadrant = p->lut_idx >> 4;
+    p->lut_sin_val = LUT_sin[p->lut_idx];
+    p->lut_cos_val = LUT_cos[p->lut_idx];
+    p->duty = (((int32_t)p->lut_sin_val * motor->current_dds_amp) >> 18) + 1250; // 0~2500 duty cycle range
+  }
+
+  epwm_set_duty(u->duty, v->duty, w->duty);
+}

app/src/uart_cmd_srv.c

@@ -0,0 +1,152 @@
+#include <stdlib.h>
+#include <string.h>
+
+#include "uart_cmd_srv.h"
+
+#include "motor_ctrl.h"
+
+static bool cmd_match_with_arg(const volatile char *buf, const char *prefix, const char **arg_out)
+{
+  size_t len = strlen(prefix);
+  for (size_t i = 0; i < len; i++)
+  {
+    if (buf[i] != prefix[i])
+      return false;
+  }
+  if (buf[len] == ' ')
+  {
+    *arg_out = (const char *)&buf[len + 1];
+    return true;
+  }
+  return false;
+}
+
+static int32_t cmd_parse_int_list(const char *arg, int32_t *out, int32_t max_count)
+{
+  int32_t count = 0;
+  char *end = NULL;
+  const char *p = arg;
+
+  while (*p != '\0' && count < max_count)
+  {
+    while (*p == ' ')
+      p++;
+
+    if (*p == '\0')
+      break;
+
+    out[count] = strtol(p, &end, 10);
+    if (end == p)
+      return -1;
+
+    count++;
+    p = end;
+  }
+
+  while (*p == ' ')
+    p++;
+
+  if (*p != '\0')
+    return -1;
+
+  return count;
+}
+
+void uart_cmd_process(void)
+{
+  if (!uart_is_frame_ready())
+    return;
+
+  const char *arg = NULL;
+  char *cmd = (char *)g_uart_rx_buf;
+
+  if (strcmp(cmd, "help") == 0)
+  {
+    uart_send_msg("Commands:\r\n");
+    uart_send_msg("  help       - show this help\r\n");
+    uart_send_msg("  fw_ver     - show firmware version\r\n");
+    uart_send_msg("  epwm_en 1/0    - enable/disable EPWM output\r\n");
+    uart_send_msg("  epwm_set_duty d1 d2 d3 - set duty for 3 channels\r\n");
+    uart_send_msg("  mode_run 1/0   - start/stop motor control task\r\n");
+    uart_send_msg("  val n1 n2 ... - parse integer values\r\n");
+  }
+  else if (strcmp(cmd, "fw_ver") == 0)
+  {
+    uart_send_msg("FW: " FW_VERSION "\r\n");
+  }
+  else if (cmd_match_with_arg(cmd, "epwm_en", &arg))
+  {
+    if (arg[0] == '1')
+    {
+      epwm_en(1);
+      uart_send_msg("OK epwm on\r\n");
+    }
+    else if (arg[0] == '0')
+    {
+      epwm_en(0);
+      uart_send_msg("OK epwm off\r\n");
+    }
+    else
+    {
+      uart_send_msg("ERR usage: epwm_en 1/0\r\n");
+    }
+  }
+  else if (cmd_match_with_arg(cmd, "epwm_set_duty", &arg))
+  {
+    int32_t values[3] = { 0 };
+    int32_t parsed = cmd_parse_int_list(arg, values, 3);
+
+    if (parsed <= 0)
+    {
+      uart_send_msg("ERR usage: epwm_set_duty duty1 duty2 duty3\r\n");
+    }
+    else
+    {
+      epwm_set_duty(values[0], values[1], values[2]);
+      uart_send_msg("OK epwm_set_duty: %d %d %d\r\n", values[0], values[1], values[2]);
+    }
+  }
+  else if (cmd_match_with_arg(cmd, "mode_run", &arg))
+  {
+    if (arg[0] == '1')
+    {
+      motor_ctrl_start();
+      uart_send_msg("OK mode_run on\r\n");
+    }
+    else if (arg[0] == '0')
+    {
+      motor_ctrl_stop();
+      uart_send_msg("OK mode_run off\r\n");
+    }
+    else
+    {
+      uart_send_msg("ERR usage: mode_run 1/0\r\n");
+    }
+  }
+  else if (cmd_match_with_arg(cmd, "val", &arg))
+  {
+    int32_t values[8] = { 0 };
+    int32_t parsed = cmd_parse_int_list(arg, values, 8);
+
+    if (parsed <= 0)
+    {
+      uart_send_msg("ERR usage: val n1 n2 ...\r\n");
+    }
+    else
+    {
+      for (int32_t i = 0; i < parsed; i++)
+      {
+        char buf[32];
+        snprintf(buf, sizeof(buf), "%d\r\n", values[i]);
+        uart_send_msg(buf);
+      }
+    }
+  }
+  else
+  {
+    uart_send_msg("ERR unknown cmd\r\n");
+  }
+
+  // reset for next command
+  uart_clear_rx_frame();
+}

app/src/uart_drv.c

@@ -0,0 +1,102 @@
+#include "uart_drv.h"
+
+/* UART config */
+#define UART_DEVICE           UART0
+#define UART_DEVICE_BAUD_RATE 115200
+
+#define UART_TX_PORT          GPIOB
+#define UART_TX_PIN           GPIO_Pin_03
+#define UART_TX_AF            GPIO_AF_1
+
+#define UART_RX_PORT          GPIOB
+#define UART_RX_PIN           GPIO_Pin_05
+#define UART_RX_AF            GPIO_AF_1
+
+volatile char g_uart_rx_buf[UART_RX_BUF_SIZE];
+volatile uint16_t g_uart_rx_idx = 0;
+volatile bool g_uart_rx_complete = false;
+
+__INTERRUPT void uart_rx_handler(void)
+{
+  SAVE_IRQ_CSR_CONTEXT();
+
+  if (UART_GetITStatus(UART_DEVICE, UART_FLAG_RXNE))
+  {
+    char ch = (char)UART_ReceiveData(UART_DEVICE);
+
+    if (ch == '\r' || ch == '\n')
+    {
+      if (g_uart_rx_idx > 0)
+      {
+        g_uart_rx_buf[g_uart_rx_idx] = '\0';
+        g_uart_rx_complete = true;
+      }
+    }
+    else if (g_uart_rx_idx < UART_RX_BUF_SIZE - 1)
+    {
+      g_uart_rx_buf[g_uart_rx_idx++] = ch;
+    }
+  }
+
+  RESTORE_IRQ_CSR_CONTEXT();
+}
+
+// void uart_cmd_send_str(const char *str)
+// {
+//   while (*str)
+//   {
+//     UART_SendData(UART_DEVICE, *str++);
+//     UART_WaitTxFifoEmpty(UART_DEVICE);
+//   }
+// }
+
+void uart_clear_rx_frame(void)
+{
+  g_uart_rx_idx = 0;
+  g_uart_rx_complete = false;
+}
+
+bool uart_is_frame_ready(void)
+{
+  return g_uart_rx_complete;
+}
+
+/* Configure PB3 as UART0 TX, PB5 as UART0 RX */
+void uart_init(void)
+{
+  GPIO_InitTypeDef gpio_init_cfg = { 0 };
+  UART_InitTypeDef uart_init_cfg = { 0 };
+
+  gpio_init_cfg.GPIO_Pin = UART_TX_PIN;
+  gpio_init_cfg.GPIO_Mode = GPIO_Mode_AF;
+  gpio_init_cfg.GPIO_AF_Mode = UART_TX_AF;
+  GPIO_Init(UART_TX_PORT, &gpio_init_cfg);
+
+  gpio_init_cfg.GPIO_Pin = UART_RX_PIN;
+  gpio_init_cfg.GPIO_Mode = GPIO_Mode_AF;
+  gpio_init_cfg.GPIO_AF_Mode = UART_RX_AF;
+  GPIO_Init(UART_RX_PORT, &gpio_init_cfg);
+
+  uart_init_cfg.BaudRate = UART_DEVICE_BAUD_RATE;
+  uart_init_cfg.WordLength = UART_WordLength_8b;
+  uart_init_cfg.StopBits = UART_StopBits_1;
+  uart_init_cfg.Parity = UART_Parity_No;
+  uart_init_cfg.Mode = UART_Mode_TxRx;
+  UART_Init(UART_DEVICE, &uart_init_cfg);
+
+  /* Enable RX not-empty interrupt */
+  UART_ITConfig(UART_DEVICE, UART_IT_RX_FIFO_NO_EMPTY, ENABLE);
+
+  /* Register UART0 IRQ */
+  sys_irq_attr_t irq_attr = {
+    .trig_mode = SYS_IRQ_TRIGGER_LEVEL,
+    .level = SYS_IRQ_LEVEL_H,
+    .priority = SYS_IRQ_PRIORITY_MIDDEN,
+  };
+  sys_register_IRQ(UART0_IRQn, uart_rx_handler, &irq_attr);
+
+  /* Start UART */
+  UART_Start(UART_DEVICE);
+
+  sys_enable_girq();
+}